version: 66.08
glider: 502
mission: 3
dive: 308
start: 12 23 110 3 56 36
data:
$ID,502
$MISSION,3
$DIVE,308
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,250
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,70
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,8
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-30527.234
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3065
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,231210,034744,-7632.623,17429.010,11,1.6,11,126.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-73.4
$GPS2,231210,035608,-7632.621,17428.844,9,1.7,9,126.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,POLYNYA2
$TGT_LATLONG,-7630.000,18000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,326.7,143255,-17.5,-10.000
$D_GRID,378
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-146.0,0.0,0.0,0,105,0.00,0.00,-85.97,0.000,2,0.000,0.000,411,2657,3334,0,0,0,0,0,0
$GC,107,-0.76,-146.0,3.3,-1.2,13,130,8.98,1.88,-6.28,0.000,4,0.202,0.077,2801,3763,3561,0,0,0,0,0,0
$GC,326,-0.76,-146.0,43.0,-16.3,52,334,0.00,1.77,0.00,0.000,6,0.000,0.043,2801,2649,3564,0,0,0,0,0,0
$GC,465,-0.76,-146.0,65.8,-17.0,77,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2649,3564,0,0,0,0,0,0
$GC,603,-0.76,-146.0,88.7,-17.6,102,611,0.00,1.85,0.00,0.000,4,0.000,0.063,2793,3760,3565,0,0,0,0,0,0
$GC,635,-0.76,-146.0,94.0,-17.3,107,642,0.00,1.75,0.00,0.000,6,0.000,0.043,2793,2659,3564,0,0,0,0,0,0
$GC,778,-0.76,-146.0,118.7,-16.8,123,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2658,3564,0,0,0,0,0,0
$GC,906,-0.76,-146.0,140.4,-16.9,135,910,0.00,1.80,0.00,0.000,4,0.000,0.063,2784,3766,3565,0,0,0,0,0,0
$GC,952,-0.76,-146.0,148.6,-17.3,139,956,0.12,1.73,0.00,0.000,6,0.166,0.042,2818,2653,3565,0,0,0,0,0,0
$GC,1094,-0.76,-146.0,171.0,-15.5,152,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2651,3565,0,0,0,0,0,0
$GC,1229,-0.76,-146.0,192.4,-14.9,165,1233,0.00,1.80,0.00,0.000,4,0.000,0.063,2811,3757,3565,0,0,0,0,0,0
$GC,1264,-0.76,-146.0,197.8,-15.6,168,1268,0.00,1.70,0.00,0.000,6,0.000,0.043,2811,2663,3565,0,0,0,0,0,0
$GC,1405,-0.76,-146.0,219.3,-14.9,181,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2660,3565,0,0,0,0,0,0
$GC,1533,-0.76,-146.0,239.2,-15.2,193,1537,0.00,1.77,0.00,0.000,4,0.000,0.063,2803,3757,3565,0,0,0,0,0,0
$GC,1558,-0.76,-146.0,243.1,-15.7,195,1562,0.00,1.70,0.00,0.000,6,0.000,0.043,2803,2660,3565,0,0,0,0,0,0
$GC,1697,-0.76,-146.0,265.7,-15.3,208,1701,0.00,1.80,0.00,0.000,4,0.000,0.063,2796,3766,3565,0,0,0,0,0,0
$GC,1726,-0.76,-146.0,270.6,-16.0,210,1733,0.00,1.73,0.00,0.000,6,0.000,0.043,2795,2684,3565,0,0,0,0,0,0
$GC,1923,-0.76,-146.0,302.0,-16.4,229,1927,0.00,1.75,0.00,0.000,4,0.000,0.063,2787,3758,3565,0,0,0,0,0,0
$GC,1950,-0.76,-146.0,306.9,-17.2,231,1959,0.08,1.70,0.00,0.000,6,0.144,0.042,2812,2687,3565,0,0,0,0,0,0
$GC,2150,-0.76,-146.0,335.4,-14.1,250,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2687,3565,0,0,0,0,0,0
$GC,2339,-0.76,-146.0,362.0,-13.8,268,2343,0.00,1.75,0.00,0.000,4,0.000,0.062,2805,3767,3565,0,0,0,0,0,0
$GC,2398,-0.76,-146.0,370.3,-15.1,273,2402,0.00,1.65,0.00,0.000,6,0.000,0.043,2805,2697,3565,0,0,0,0,0,0
$STATE,2450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2450,begin apogee
$GC,2455,-0.17,0.0,378.6,14.7,278,2594,0.62,0.00,131.25,1.028,4,0.128,0.000,3006,2484,2960,0,0,0,0,0,0
$STATE,2594,end apogee,CONTROL_FINISHED_OK
$STATE,2595,begin climb
$GC,2596,0.76,146.0,384.3,0.0,290,2751,0.95,2.47,145.18,0.948,4,0.073,0.048,3312,1103,2364,0,0,0,0,0,0
$GC,2865,0.76,146.0,361.9,11.0,314,2870,0.00,2.42,0.00,0.000,6,0.000,0.050,3312,2492,2354,0,0,0,0,0,0
$GC,3064,0.76,146.0,338.8,11.6,332,3069,0.00,2.28,0.00,0.000,4,0.000,0.050,3322,1088,2351,0,0,0,0,0,0
$GC,3198,0.76,146.0,322.5,11.8,343,3206,0.00,2.30,0.00,0.000,6,0.000,0.053,3322,2513,2348,0,0,0,0,0,0
$GC,3396,0.76,146.0,297.6,12.8,362,3400,0.00,2.00,0.00,0.000,4,0.000,0.060,3322,3767,2348,0,0,0,0,0,0
$GC,3498,0.76,146.0,282.3,15.6,371,3501,0.00,1.92,0.00,0.000,6,0.000,0.042,3331,2527,2348,0,0,0,0,0,0
$GC,3700,0.76,146.0,254.0,13.6,390,3704,0.00,2.00,0.00,0.000,4,0.000,0.060,3331,3769,2346,0,0,0,0,0,0
$GC,3735,0.76,146.0,248.9,15.2,393,3738,0.00,1.95,0.00,0.000,6,0.000,0.041,3341,2522,2346,0,0,0,0,0,0
$GC,3876,0.76,146.0,229.3,14.1,406,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2519,2346,0,0,0,0,0,0
$GC,4003,0.76,146.0,211.2,14.2,418,4006,0.00,2.00,0.00,0.000,4,0.000,0.060,3341,3764,2346,0,0,0,0,0,0
$GC,4062,0.76,146.0,201.4,15.7,423,4073,0.10,1.95,0.00,0.000,6,0.142,0.041,3317,2536,2346,0,0,0,0,0,0
$GC,4199,0.76,146.0,185.3,11.8,436,4202,0.00,1.98,0.00,0.000,4,0.000,0.060,3317,3765,2345,0,0,0,0,0,0
$GC,4224,0.76,146.0,181.4,13.3,438,4234,0.00,1.95,0.00,0.000,6,0.000,0.041,3325,2542,2345,0,0,0,0,0,0
$GC,4361,0.76,146.0,164.8,12.4,451,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2541,2346,0,0,0,0,0,0
$GC,4488,0.76,146.0,149.2,12.1,463,4492,0.00,1.98,0.00,0.000,4,0.000,0.061,3325,3765,2346,0,0,0,0,0,0
$GC,4536,0.76,146.0,141.9,14.6,467,4547,0.00,1.92,0.00,0.000,6,0.000,0.042,3334,2550,2345,0,0,0,0,0,0
$GC,4673,0.76,146.0,124.1,13.1,480,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2549,2345,0,0,0,0,0,0
$GC,4800,0.76,146.0,107.6,12.9,492,4804,0.00,1.98,0.00,0.000,4,0.000,0.062,3334,3773,2344,0,0,0,0,0,0
$GC,4837,0.76,146.0,101.7,15.3,495,4848,0.08,1.95,0.00,0.000,6,0.145,0.043,3318,2555,2344,0,0,0,0,0,0
$GC,4978,0.76,146.0,84.6,12.8,519,4985,0.00,1.98,0.00,0.000,4,0.000,0.060,3318,3770,2344,0,0,0,0,0,0
$GC,5009,0.76,146.0,80.3,14.0,524,5017,0.00,1.92,0.00,0.000,6,0.000,0.042,3326,2560,2344,0,0,0,0,0,0
$GC,5147,0.76,146.0,62.7,12.5,549,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2559,2344,0,0,0,0,0,0
$GC,5283,0.76,146.0,45.6,12.0,574,5292,0.00,2.00,0.00,0.000,4,0.000,0.060,3326,3764,2344,0,0,0,0,0,0
$GC,5341,0.76,146.0,37.8,13.9,584,5350,0.00,1.90,0.00,0.000,6,0.000,0.042,3334,2568,2344,0,0,0,0,0,0
$GC,5482,0.76,146.0,20.1,12.6,609,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2566,2344,0,0,0,0,0,0
$FREEZE,8.72,-0.617,-1.894,2,1,0
$FREEZE,7.95,-0.630,-1.894,2,1,0
$FREEZE,7.14,-0.635,-1.893,2,1,0
$FREEZE,6.50,-0.589,-1.892,2,1,0
$FREEZE,5.57,-0.562,-1.891,2,1,0
$FREEZE,4.83,-0.584,-1.891,2,1,0
$FREEZE,4.04,-0.609,-1.891,2,1,0
$FREEZE,3.33,-0.569,-1.890,2,1,0
$FREEZE,2.41,-0.571,-1.889,2,1,0
$STATE,5613,end climb,SURFACE_DEPTH_REACHED
$STATE,5613,begin surface coast
$FREEZE,1.52,-0.556,-1.889,2,1,0
$FREEZE,1.30,-0.631,-1.893,2,1,0
$FREEZE,1.28,-0.574,-1.890,2,1,0
$FREEZE,1.24,-0.763,-1.267,2,1,0
$FINISH,1.2,1.018701
$STATE,5640,end surface coast,CONTROL_FINISHED_OK
$STATE,5640,begin surface
$SM_CCo,5656,79.85,0.724,1,0,1736,300.24
$SM_GC,2.23,0.00,0.00,79.85,0.000,0.000,0.724,435,2655,1736,-8.22,0.14,300.24
$IRIDIUM_FIX,-7545.40,17436.64,231210,030317
$TT8_MAMPS,0.028462
$HUMID,52.44
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.2,17.4
$24V_AH,20.5,55.337
$10V_AH,9.7,35.949
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.500,69.425,276.425,79.850,0.000,61.728,110.899,169.555,1.750,0.000,10.509,1626.747,2088.712,474.876,1893.892,171.379,0.000,1137.534,0.000,1068.121,0.000,8.763,0.000
$DEVICE_MAMPS,201.960,91.035,1028.160,724.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.840,821.458,886.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258180
$DATA_FILE_SIZE,43696,636
$CAP_FILE_SIZE,91403,0
$CFSIZE,260165632,234176512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,236.2,1
$GPS,231210,053336,-7632.769,17431.217,31,0.9,41,126.1